The 56-year-old, who was in charge from 2019 to 2023, takes over from Italian Mancini, who left the position on Oct 24 by mutual agreement after 14 months.
"I am back," Renard, clad in Saudi traditional costume, said in a video published on the Saudi national team's X social media account.
His contract runs until the end of 2025, with an option to extend until the 2027 Asian Cup, the team said in a statement.
Renard had left his job with the Saudis to lead France's women's team at the 2023 World Cup and the 2024 Paris Olympics.
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